precland: support receiving LANDING_TARGET message

src/modules/mavlink/mavlink_receiver.cpp

@@ -132,6 +132,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_land_detector_pub(nullptr),
 	_time_offset_pub(nullptr),
 	_follow_target_pub(nullptr),
+	_landing_target_pose_pub(nullptr),
 	_transponder_report_pub(nullptr),
 	_collision_report_pub(nullptr),
 	_debug_key_value_pub(nullptr),
@@ -294,6 +295,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_follow_target(msg);
 		break;
 
+	case MAVLINK_MSG_ID_LANDING_TARGET:
+		handle_message_landing_target(msg);
+		break;
+
 	case MAVLINK_MSG_ID_ADSB_VEHICLE:
 		handle_message_adsb_vehicle(msg);
 		break;
@@ -2059,6 +2064,29 @@ void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg)
 	}
 }
 
+void MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
+{
+	mavlink_landing_target_t landing_target;
+
+	mavlink_msg_landing_target_decode(msg, &landing_target);
+
+	if (landing_target.position_valid && landing_target.frame == MAV_FRAME_LOCAL_NED) {
+		landing_target_pose_s landing_target_pose = {};
+		landing_target_pose.timestamp = sync_stamp(landing_target.time_usec);
+		landing_target_pose.abs_pos_valid = true;
+		landing_target_pose.x_abs = landing_target.x;
+		landing_target_pose.y_abs = landing_target.y;
+		landing_target_pose.z_abs = landing_target.z;
+
+		if (_landing_target_pose_pub == nullptr) {
+			_landing_target_pose_pub = orb_advertise(ORB_ID(landing_target_pose), &landing_target_pose);
+
+		} else {
+			orb_publish(ORB_ID(landing_target_pose), _landing_target_pose_pub, &landing_target_pose);
+		}
+	}
+}
+
 void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 {
 	mavlink_adsb_vehicle_t adsb;

src/modules/mavlink/mavlink_receiver.h

@@ -74,6 +74,7 @@
 #include <uORB/topics/time_offset.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/follow_target.h>
+#include <uORB/topics/landing_target_pose.h>
 #include <uORB/topics/transponder_report.h>
 #include <uORB/topics/gps_inject_data.h>
 #include <uORB/topics/collision_report.h>
@@ -149,6 +150,7 @@ private:
 	void handle_message_hil_state_quaternion(mavlink_message_t *msg);
 	void handle_message_distance_sensor(mavlink_message_t *msg);
 	void handle_message_follow_target(mavlink_message_t *msg);
+	void handle_message_landing_target(mavlink_message_t *msg);
 	void handle_message_adsb_vehicle(mavlink_message_t *msg);
 	void handle_message_collision(mavlink_message_t *msg);
 	void handle_message_gps_rtcm_data(mavlink_message_t *msg);
@@ -242,6 +244,7 @@ private:
 	orb_advert_t _land_detector_pub;
 	orb_advert_t _time_offset_pub;
 	orb_advert_t _follow_target_pub;
+	orb_advert_t _landing_target_pose_pub;
 	orb_advert_t _transponder_report_pub;
 	orb_advert_t _collision_report_pub;
 	orb_advert_t _debug_key_value_pub;

src/modules/navigator/precland.cpp

@@ -108,10 +108,9 @@ void
 PrecLand::on_active()
 {
 	// get new target measurement
-	bool updated = false;
-	orb_check(_target_pose_sub, &updated);
+	orb_check(_target_pose_sub, &_target_pose_updated);
 
-	if (updated) {
+	if (_target_pose_updated) {
 		orb_copy(ORB_ID(landing_target_pose), _target_pose_sub, &_target_pose);
 		_target_pose_valid = true;
 	}
@@ -466,7 +465,7 @@ bool PrecLand::check_state_conditions(PrecLandState state)
 		// if we're already in this state, only want to make it invalid if we reached the target but can't see it anymore
 		if (_state == PrecLandState::HorizontalApproach) {
 			if (fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_hacc_rad.get()
-			    && fabsf(_target_pose.y_rel - vehicle_local_position->y) < _param_hacc_rad.get()) {
+			    && fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_hacc_rad.get()) {
 				// we've reached the position where we last saw the target. If we don't see it now, we need to do something
 				return _target_pose_valid && _target_pose.abs_pos_valid;
 
@@ -478,7 +477,7 @@ bool PrecLand::check_state_conditions(PrecLandState state)
 		}
 
 		// If we're trying to switch to this state, the target needs to be visible
-		return _target_pose_valid && _target_pose.abs_pos_valid;
+		return _target_pose_updated && _target_pose.abs_pos_valid;
 
 	case PrecLandState::DescendAboveTarget:
 
@@ -494,12 +493,14 @@ bool PrecLand::check_state_conditions(PrecLandState state)
 
 		} else {
 			// if not already in this state, need to be above target to enter it
-			return _target_pose_valid && _target_pose.abs_pos_valid
-			       && fabsf(_target_pose.x_rel) < _param_hacc_rad.get() && fabsf(_target_pose.y_rel) < _param_hacc_rad.get();
+			return _target_pose_updated && _target_pose.abs_pos_valid
+			       && fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_hacc_rad.get()
+			       && fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_hacc_rad.get();
 		}
 
 	case PrecLandState::FinalApproach:
-		return _target_pose_valid && _target_pose.rel_pos_valid && _target_pose.z_rel < _param_final_approach_alt.get();
+		return _target_pose_valid && _target_pose.abs_pos_valid
+		       && (_target_pose.z_abs - vehicle_local_position->z) < _param_final_approach_alt.get();
 
 	case PrecLandState::Search:
 		return true;

src/modules/navigator/precland.h

@@ -102,6 +102,7 @@ private:
 
 	int _target_pose_sub{-1};
 	bool _target_pose_valid{false}; /**< whether we have received a landing target position message */
+	bool _target_pose_updated{false}; /**< wether the landing target position message is updated */
 
 	struct map_projection_reference_s _map_ref {}; /**< reference for local/global projections */